closedLoop.closedLoop Class Reference

This class implements a closed loop controller driver for the ME 305 Nucleo board. More...

Public Member Functions
def	__init__ (self)

Public Attributes
	Kp
	Proportional controller gain.
	Vm
	Voltage applied to motor.
	L
	PWM level.
	omegaRef
	Reference or Desired Velocity.
	omegaAct
	actual velocity of output
	Kprime
	New Proportional gain. More...
	new_Kp
	retrieves the proportional controller gain value More...

Detailed Description

This class implements a closed loop controller driver for the ME 305 Nucleo board.

Constructor & Destructor Documentation

__init__()

def closedLoop.closedLoop.__init__

(

self

)

Creates a closed loop controller driver by initializing proportional gains, velocities and Motor effort

Member Data Documentation

Kprime

closedLoop.closedLoop.Kprime

New Proportional gain.

Calculates PWM level needed to reached desire velocity.

new_Kp

closedLoop.closedLoop.new_Kp

retrieves the proportional controller gain value

Returns

the proportional controller gain value

Sets the proportional controller gain value

Parameters

new_Kp

new desired controller gain value

new desired controller gain value

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The documentation for this class was generated from the following file:

• closedLoop.py